crazyswarm2-ext

Crazyswarm2 Simulator Environment

Installation

• Refer to the container workspace setup documentation

Usage

Starting the crazyflie-server

This Python script launches the crazyflie-server, which is necessary for the communication between the Crazyflie and the simulator:

ros2 launch crazyflie start_crazyflie_server.launch.py backend:=cflib

Important

The Crazyradio dongle must be attached to the USB port.

Refer to the container workspace setup documentation for allowing USB.

Adjust drone parameters in the config files:

• dev_ws/ros2/src/crazyswarm2/crazyflie/config/crazyflies.yaml

Note

When this server is started, cf.PyControl (a web-based high-level controller for Crazyflie drones) can be used with the crazyswarm2 simulator over its ROS2 interface.

Example

List available Crazyflie commands voa ROS2 Services:

ros2 service list

Send takeoff command:

ros2 service call /cf231/arm crazyflie_interfaces/srv/Arm "{arm: true}"
ros2 service call /cf231/takeoff crazyflie_interfaces/srv/Takeoff "{height: 0.2, duration: {sec: 2}}"

Send landing command:

ros2 service call /cf231/land crazyflie_interfaces/srv/Land "{height: 0.0, duration: {sec: 2}}"

Simple Mapping Simulation

• Container A:
  • ros2 launch crazyflie_ros2_multiranger_bringup simple_mapper_simulation.launch.py
• Container B:
  • ros2 run teleop_twist_keyboard teleop_twist_keyboard

Wall following simulation

• Container A:
  • ros2 launch crazyflie_ros2_multiranger_bringup wall_follower_mapper_simulation.launch.py
  • Stop Crazyflie: ros2 service call /crazyflie/stop_wall_following std_srvs/srv/Trigger

Gazebo Velocity Control

• see Gazebo Velocity Control

gz sim -r worlds/crazyflie_world.sdf

• Find the teleop plugin in the Gazebo GUI
• Subscribe to /crazyflie/gazebo/command/twist